/*
* @File Name timer_usr.c
* @File Path M:\MAS2\PRM_Robotic_Arm\PRMCcode\coding\task\timer_usr.c
* @Author: Ruige_Lee
* @Date:   2019-08-22 21:37:22
* @Last Modified by:   Ruige_Lee
* @Last Modified time: 2019-09-14 15:03:15
* @Email: 295054118@whut.edu.cn
* @page: https://whutddk.github.io/
*/
/*
* @File Name timer_usr.c
* @File Path M:\MAS2\PRM_Robotic_Arm\PRMCcode\coding\task\timer_usr.c
* @Author: Ruige_Lee
* @Date:   2019-04-17 16:47:03
* @Last Modified by:   Ruige_Lee
* @Last Modified time: 2019-04-22 15:26:56
* @Email: 295054118@whut.edu.cn"
*/





#include "task/include.h"

uint32_t profileCnt = 0;

void timer_usr_500us(void)
{
	profileCnt ++;
	
}

void timer_usr_10ms(void)
{
	push(0,(int16_t)(stepper_getRad(0, 0) * 5000));
	push(1,(int16_t)(stepper_getRad(0, 1) * 5000));
	push(2,(int16_t)(stepper_getRad(0, 2) * 5000));
	push(3,(int16_t)(stepper_getRad(0, 3) * 5000));
	push(4,(int16_t)(stepper_getRad(0, 4) * 5000));
	push(5,(int16_t)(stepper_getRad(0, 5) * 5000));
	push(6,(int16_t)(stepper_getRad(1, 0) * 5000));
	push(7,(int16_t)(stepper_getRad(1, 1) * 5000));
	push(8,(int16_t)(stepper_getRad(1, 2) * 5000));
	push(9,(int16_t)(stepper_getRad(1, 3) * 5000));
	push(10,(int16_t)(stepper_getRad(1, 4) * 5000));
	push(11,(int16_t)(stepper_getRad(1, 5) * 5000));
	sendDataToScope();

	stepper_handler();
	
	
}


void timer_usr_100ms(void)
{
	;
}


void timer_usr_500ms(void)
{
	;
}

void timer_usr_1s(void)
{
	;
}


void timer_usr_2s(void)
{
	;
}
